Functions
uint8_t	osx_MotionFX_initialize (void)
	Initialize the MotionFX engine. More...

void	osx_MotionFX_setKnobs (osxMFX_knobs *knobs)
	Set the internal knobs. More...

void	osx_MotionFX_getKnobs (osxMFX_knobs *knobs)
	Get the current internal knobs. More...

osxMFX_Engine_State	osx_MotionFX_getStatus_6X (void)
	Get the status of the 6 axes library. More...

osxMFX_Engine_State	osx_MotionFX_getStatus_9X (void)
	Get the status of the 9 axes library. More...

void	osx_MotionFX_enable_6X (osxMFX_Engine_State enable)
	Enable or disable the 6 axes function (ACC + GYRO) More...

void	osx_MotionFX_enable_9X (osxMFX_Engine_State enable)
	Enable or disable the 9 axes function (ACC + GYRO + MAG) More...

void	osx_MotionFX_setGbias (float *gbias)
	Set the initial gbias. More...

void	osx_MotionFX_getGbias (float *gbias)
	Get the initial gbias. More...

void	osx_MotionFX_update (osxMFX_output data_out, osxMFX_input data_in, float eml_deltatime, float *eml_q_update)
	Run the Kalman filter update. More...

void	osx_MotionFX_propagate (osxMFX_output data_out, osxMFX_input data_in, float eml_deltatime)
	Run the Kalman filter propagate. More...

int	osx_MotionFX_getLibVersion (char *version)
	Get the library version. More...

void	osx_MotionFX_compass_init (void)
	Initialize the compass calibration library. More...

void	osx_MotionFX_compass_saveAcc (int acc_x, int acc_y, int acc_z)
	Save accelerometer data ENU systems coordinate. More...

void	osx_MotionFX_compass_saveMag (int mag_x, int mag_y, int mag_z)
	Save magnetometer data ENU systems coordinate. More...

int	osx_MotionFX_compass_run (void)
	Run compass API at 25 Hz. More...

unsigned char	osx_MotionFX_compass_isCalibrated (void)
	Check if calibration is needed. More...

void	osx_MotionFX_compass_forceReCalibration (void)
	Force new calibration. More...

void	osx_MotionFX_getCalibrationData (osxMFX_calibFactor *CalibrationData)
	Get calibration data. More...

void	osx_MotionFX_setCalibrationData (osxMFX_calibFactor *CalibrationData)
	Set calibration data. More...

Detailed Description

Function Documentation

void osx_MotionFX_compass_forceReCalibration ( void )

Force new calibration.

Return values

None

void osx_MotionFX_compass_init ( void )

Initialize the compass calibration library.

Return values

None

unsigned char osx_MotionFX_compass_isCalibrated ( void )

Check if calibration is needed.

Return values

calibration status

int osx_MotionFX_compass_run ( void )

Run compass API at 25 Hz.

Return values

None

void osx_MotionFX_compass_saveAcc	(	int	acc_x,
		int	acc_y,
		int	acc_z
	)

Save accelerometer data ENU systems coordinate.

Parameters

acc_x	accelerometer x coordinate in [mg]
acc_y	accelerometer y coordinate in [mg]
acc_z	accelerometer z coordinate in [mg]

Return values

None

void osx_MotionFX_compass_saveMag	(	int	mag_x,
		int	mag_y,
		int	mag_z
	)

Save magnetometer data ENU systems coordinate.

Parameters

mag_x	magnetometer x coordinate in [mG]
mag_y	magnetometer y coordinate in [mG]
mag_z	magnetometer z coordinate in [mG]

Return values

None

void osx_MotionFX_enable_6X ( osxMFX_Engine_State enable )

Enable or disable the 6 axes function (ACC + GYRO)

Parameters

enable 1 to enable, 0 to disable

Return values

None

void osx_MotionFX_enable_9X ( osxMFX_Engine_State enable )

Enable or disable the 9 axes function (ACC + GYRO + MAG)

Parameters

enable 1 to enable, 0 to disable

Return values

None

void osx_MotionFX_getCalibrationData ( osxMFX_calibFactor * CalibrationData )

Get calibration data.

Parameters

CalibrationData pointer to calibration data structure

Return values

None

void osx_MotionFX_getGbias ( float * gbias )

Get the initial gbias.

Parameters

pointer to a float array containing the 3 gbias values

Return values

None

void osx_MotionFX_getKnobs ( osxMFX_knobs * knobs )

Get the current internal knobs.

Parameters

knobs knobs structure

Return values

None

int osx_MotionFX_getLibVersion ( char * version )

Get the library version.

Parameters

version pointer to an array of 35 char

Return values

Number of characters in the version string

osxMFX_Engine_State osx_MotionFX_getStatus_6X ( void )

Get the status of the 6 axes library.

Return values

1	if enabled, 0 if disabled

osxMFX_Engine_State osx_MotionFX_getStatus_9X ( void )

Get the status of the 9 axes library.

Return values

1	if enabled, 0 if disabled

uint8_t osx_MotionFX_initialize ( void )

Initialize the MotionFX engine.

Return values

1	in case of success, 0 otherwise

void osx_MotionFX_propagate	(	osxMFX_output *	data_out,
		osxMFX_input *	data_in,
		float	eml_deltatime
	)

Run the Kalman filter propagate.

Parameters

data_out	pointer to the osxMFX_output structure
data_in	pointer to the osxMFX_input structure
eml_deltatime	delta time between two propagate calls [sec]

Return values

None

void osx_MotionFX_setCalibrationData ( osxMFX_calibFactor * CalibrationData )

Set calibration data.

Parameters

CalibrationData pointer to calibration data structure

Return values

None

void osx_MotionFX_setGbias ( float * gbias )

Set the initial gbias.

Parameters

gbias pointer to a float array containing the 3 gbias values

Return values

None

void osx_MotionFX_setKnobs ( osxMFX_knobs * knobs )

Set the internal knobs.

Parameters

knobs knobs structure

Return values

None

void osx_MotionFX_update	(	osxMFX_output *	data_out,
		osxMFX_input *	data_in,
		float	eml_deltatime,
		float *	eml_q_update
	)

Run the Kalman filter update.

Parameters

data_out	pointer to the osxMFX_output structure
data_in	pointer to the osxMFX_input structure
eml_deltatime	delta time between two propagate calls [sec]
eml_q_update	set to NULL

Return values

None

OSX MotionFX Software Library: OSX_MOTION_FX_Exported_Functions

OSX MotionFX

Functions

Detailed Description

Function Documentation

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